// Copyright (c) 2015, Autonomous Systems Lab, ETH Zurich
// All rights reserved.
// 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
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//     * Neither the name of the <organization> nor the
//       names of its contributors may be used to endorse or promote products
//       derived from this software without specific prior written permission.
// 
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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#ifndef MINKINDR_MINIMAL_COMMON_H
#define MINKINDR_MINIMAL_COMMON_H

#include <Eigen/Core>
#include <glog/logging.h>

namespace kindr {
namespace minimal {

inline void skewMatrix(const Eigen::Vector3d& v, Eigen::Matrix3d * skew) {
  CHECK_NOTNULL(skew);
  skew->setZero();
  (*skew)(0,1) = -v[2];
  (*skew)(1,0) =  v[2];
  (*skew)(0,2) =  v[1];
  (*skew)(2,0) = -v[1];
  (*skew)(1,2) = -v[0];
  (*skew)(2,1) =  v[0];
}

inline void skewMatrix(const Eigen::Vector3d& v, Eigen::Map<Eigen::Matrix3d> * skew) {
  CHECK_NOTNULL(skew);
  skew->setZero();
  (*skew)(0,1) = -v[2];
  (*skew)(1,0) =  v[2];
  (*skew)(0,2) =  v[1];
  (*skew)(2,0) = -v[1];
  (*skew)(1,2) = -v[0];
  (*skew)(2,1) =  v[0];
}

inline Eigen::Matrix3d skewMatrix(const Eigen::Vector3d& v) {
  Eigen::Matrix3d skew;
  skewMatrix(v, &skew);
  return skew;
}

}  // namespace minimal
}  // namespace kindr

#endif // MINKINDR_MINIMAL_COMMON_H
